As illustrated in Figure 2, the control architecture of our robot comprises two main parts: The trajectory planner and the control framework. The trajectory planner generates the trajectory of the desired center of mass (CoM), zero moment point (ZMP), and ankle positions in real time based on the algorithm presented in [1]}. Trajectory parameters have been extracted using non-dominated sorting genetic algorithm II (NSGA-II) optimization to plan a trajectory that minimizes energy consumption and enhances stability according to [2]}. The control scheme includes the introduction of a new sensor so-called bump sensor, and three controllers: Foot Length, Ankle Orientation, and Admittance ZMP-COM controller, which will be elaborated on in the incoming sections.
